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Physics-Constrained Digital Twins for Sensor Integrity in Urban Pedestrian Flow: Detecting Stealthy False Data Injection with Conformal Guarantees

arXiv · AI, language, vision and robotics · article · Sep 15, 2026 · UTC

City pedestrian counting systems now feed economic indicators, planning decisions and safety operations, yet the twins built on top of them treat the incoming stream as ground truth. We study what happens when it is not. We formalise stealthy false data injection for city-scale pedestrian sensing, where the map from latent flow to observation is far more rank deficient than in the power and water networks for which stealth has been characterised. Our twin estimates directed flows on the pedestrian street graph, assimilates counts through a learned graph-localised gain, and is trained against a

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